Diff from to

# File PumaFK.py

` 		self.s = [0,0,0]`
` 		self.a = [0,0,0]`
` 		self.p = [0,0,0]`
`-		self.angles = [0,0,0,0,0,0]`
`+		self.theta = [0,0,0,0,0,0]`
` `
` 	def update(self, counts):`
` 		if len(counts) != 6:`
` 			if j.coupling:`
` 				count -= counts[i-1] * j.coupling`
` 			angle = counts[i] / j.scale + j.theta`
`-			self.angles[i] = angle`
`+			self.theta[i] = angle`
` `
`-		c1 = cos(self.angles[0])`
`-		c2 = cos(self.angles[1])`
`-		c3 = cos(self.angles[2])`
`-		c4 = cos(self.angles[3])`
`-		c5 = cos(self.angles[4])`
`-		c6 = cos(self.angles[5])`
`+		c1 = cos(self.theta[0])`
`+		c2 = cos(self.theta[1])`
`+		c3 = cos(self.theta[2])`
`+		c4 = cos(self.theta[3])`
`+		c5 = cos(self.theta[4])`
`+		c6 = cos(self.theta[5])`
` `
`-		s1 = sin(self.angles[0])`
`-		s2 = sin(self.angles[1])`
`-		s3 = sin(self.angles[2])`
`-		s4 = sin(self.angles[3])`
`-		s5 = sin(self.angles[4])`
`-		s6 = sin(self.angles[5])`
`+		s1 = sin(self.theta[0])`
`+		s2 = sin(self.theta[1])`
`+		s3 = sin(self.theta[2])`
`+		s4 = sin(self.theta[3])`
`+		s5 = sin(self.theta[4])`
`+		s6 = sin(self.theta[5])`
` `
`-		c23 = cos(self.angles[1] + self.angles[2])`
`-		s23 = sin(self.angles[1] + self.angles[2])`
`+		c23 = cos(self.theta[1] + self.theta[2])`
`+		s23 = sin(self.theta[1] + self.theta[2])`
` 		`
` 		tn1 = c23*(c4*c5*c6 - s4*s6) - s23*s5*c6`
` 		tn2 = s4*c5*c6 + c4*s6`
` 	while True:`
` 		counts = MDC.get_counts()`
` 		r.update([int(x) for x in counts])`
`-		print [int(x) for x in counts], [int(x) for x in r.p]`
`+		#print [int(x) for x in counts], [int(x) for x in r.p], [round(x,3) for x in r.a], [round(x,3) for x in r.s]`
`+		print [int(x) for x in counts], [int(x*180/pi) for x in r.theta]`
` 		time.sleep(0.5)`